Unmanned aerial vehicle control method and system

Abstract

The invention belongs to the technical field of unmanned aerial vehicle control, and provides an unmanned aerial vehicle control method and system, and the method comprises the steps: transmitting a distress signal to a friend unmanned aerial vehicle group through a broadcast frequency band if a flying unmanned aerial vehicle detects the loss of a main control signal within a preset time; the flying unmanned aerial vehicle determines a communication unmanned aerial vehicle according to the data of the friend unmanned aerial vehicle group, and sends the data of the communication unmanned aerial vehicle to the friend unmanned aerial vehicle group; the flying unmanned aerial vehicle judges whether the sensing data sent by the communication unmanned aerial vehicle can be received through the standby frequency band, and if yes, the flying unmanned aerial vehicle determines a return flight route according to the sensing data, the data of the friend unmanned aerial vehicle group and the data of the flying unmanned aerial vehicle; the flying unmanned aerial vehicle returns according to the return route; the communication unmanned aerial vehicle communicates with the flying unmanned aerial vehicle through the standby frequency band, so that the flying unmanned aerial vehicle can obtain the sensing data provided by the communication unmanned aerial vehicle, and the sensing data is combined with the data of the friend unmanned aerial vehicle group and the data of the flying unmanned aerial vehicle, so that a safe and feasible return flight route can be planned.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a control method and system of unmanned aerial vehicle. BACKGROUND

[0002] An unmanned aerial vehicle is a pilotless aircraft controlled by a radio remote control device or a self-programming device, and is widely used in aerial photography, surveying and mapping, search and rescue, and inspection.

[0003] During flight, the unmanned aerial vehicle relies on a main control signal (such as a 2.4 GHz frequency band) to realize real-time communication with the ground to receive control instructions and transmit position and state data. However, the main control signal has weak anti-interference ability and is easily affected by electromagnetic interference, terrain obstruction (such as city buildings and mountain gorges), or malicious interference, resulting in signal loss.

[0004] When the main control signal is lost, the unmanned aerial vehicle in the prior art usually adopts a self-return mode, that is, it plans a route to return based on its own positioning data and pre-stored return point information. However, due to interference, the positioning data is easily deviated, resulting in a decrease in positioning accuracy. Moreover, the unmanned aerial vehicle cannot obtain the distribution of dynamic interference zones and obstacle information in the external environment in real time, and may mistakenly enter a strong interference zone or collide with an obstacle. Furthermore, the unmanned aerial vehicle only relies on its own power data to determine the endurance, and if the flight distance is overestimated due to positioning errors, the unmanned aerial vehicle may be forced to land due to power depletion, which results in low safety and reliability of the self-return, especially in a complex interference environment, which easily causes the unmanned aerial vehicle to lose control, crash, or be lost. SUMMARY

[0005] To solve the problems in the background art, the present application provides a control method and system of unmanned aerial vehicle.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a control method of unmanned aerial vehicle, comprising:

[0008] If the flying unmanned aerial vehicle detects loss of the main control signal within a preset time, it sends a distress signal to a friendly unmanned aerial vehicle group through a broadcast frequency band, so that the friendly unmanned aerial vehicle group sends friendly unmanned aerial vehicle group data to the flying unmanned aerial vehicle through the broadcast frequency band; wherein the friendly unmanned aerial vehicle group comprises at least one friendly unmanned aerial vehicle;

[0009] The flying unmanned aerial vehicle switches the communication frequency band to a backup frequency band;

[0010] The flying unmanned aerial vehicle determines a communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, and sends the communication unmanned aerial vehicle data to the friendly unmanned aerial vehicle group, so that the communication unmanned aerial vehicle switches the communication frequency band to the backup frequency band and establishes communication with the flying unmanned aerial vehicle.

[0011] The flying unmanned aerial vehicle determines whether the sensing data sent by the communication unmanned aerial vehicle can be received through the backup frequency band. If yes, the flying unmanned aerial vehicle determines a return route according to the sensing data, the friendly unmanned aerial vehicle group data and the self data. If no, the flying unmanned aerial vehicle determines a return route according to the self data.

[0012] The flying unmanned aerial vehicle returns according to the return route.

[0013] Preferably, the friendly unmanned aerial vehicle group data comprises a distress signal strength, friendly unmanned aerial vehicle group positioning data, interference signal strength and first power data.

[0014] Preferably, the flying unmanned aerial vehicle determines a communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, specifically comprising:

[0015] The flying unmanned aerial vehicle determines a distance to each friendly unmanned aerial vehicle according to self positioning data and friendly unmanned aerial vehicle group positioning data.

[0016] The flying unmanned aerial vehicle determines a communication unmanned aerial vehicle according to the distress signal strength, the distance to each friendly unmanned aerial vehicle, the interference signal strength and the first power data.

[0017] Preferably, the communication unmanned aerial vehicle comprises a communication first unmanned aerial vehicle and a communication second unmanned aerial vehicle.

[0018] The method further comprises: when the flying unmanned aerial vehicle interrupts communication with the communication first unmanned aerial vehicle, establishing communication with the communication second unmanned aerial vehicle through the backup frequency band and receiving sensing data sent by the communication second unmanned aerial vehicle.

[0019] Preferably, the sensing data comprises friendly aerial vehicle positioning data and obstacle distribution data, and the self data comprises self positioning data and self power data.

[0020] Preferably, the flying unmanned aerial vehicle determines a return route according to the sensing data and the self data, specifically comprising the following steps:

[0021] The flying unmanned aerial vehicle determines actual positioning data according to the friendly aerial vehicle positioning data and the self positioning data.

[0022] The flying unmanned aerial vehicle determines interference zone boundary data according to the interference signal strength.

[0023] The flying unmanned aerial vehicle determines a return point according to the self power data and the actual positioning data.

[0024] The flying unmanned aerial vehicle determines a return route according to the actual positioning data, the interference zone boundary data, the obstacle distribution data and the return point.

[0025] Preferably, the flying unmanned aerial vehicle determines actual positioning data according to the friendly positioning data and self-positioning data, and specifically includes the following steps:

[0026] The flying unmanned aerial vehicle converts the friendly positioning data into the first positioning data through preset first coordinate conversion parameters;

[0027] The actual positioning data is obtained by weighting and fusing the self-positioning data and the converted friendly positioning data.

[0028] Preferably, the flying unmanned aerial vehicle determines interference zone boundary data according to the interference signal strength, and specifically includes:

[0029] The flying unmanned aerial vehicle converts the friendly unmanned aerial vehicle group positioning data into second positioning data through preset second coordinate conversion parameters;

[0030] The flying unmanned aerial vehicle sorts the interference signal strength according to the coordinates of the second positioning data, and calculates the signal strength gradient change of adjacent positions;

[0031] The flying unmanned aerial vehicle divides the interference zone boundary according to the signal strength gradient change.

[0032] Preferably, the self-data includes self-positioning data and self-power data;

[0033] The flying unmanned aerial vehicle determines a return route according to the self-data, and specifically includes:

[0034] The flying unmanned aerial vehicle determines a return point according to the self-power data and the self-positioning data;

[0035] The flying unmanned aerial vehicle determines a return route according to the return point and the self-positioning data.

[0036] In a second aspect, the present disclosure provides a control system of an unmanned aerial vehicle, which includes:

[0037] The signal detection module is configured to, if the flying unmanned aerial vehicle detects loss of the main control signal within a preset time, send a distress signal to the friendly unmanned aerial vehicle group through a broadcast frequency band, so that the friendly unmanned aerial vehicle group sends friendly unmanned aerial vehicle group data to the flying unmanned aerial vehicle through the broadcast frequency band; wherein the friendly unmanned aerial vehicle group includes at least one friendly unmanned aerial vehicle;

[0038] The signal switching module is configured to switch the communication frequency band of the flying unmanned aerial vehicle to a backup frequency band;

[0039] The communication module is configured to determine a communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, and send the communication unmanned aerial vehicle data to the friendly unmanned aerial vehicle group, so that the communication unmanned aerial vehicle switches the communication frequency band to the backup frequency band and establishes communication with the flying unmanned aerial vehicle;

[0040] The return route determination module is configured to determine whether the flying unmanned aerial vehicle can receive the sensing data sent by the communication unmanned aerial vehicle through the backup frequency band, and if so, the flying unmanned aerial vehicle determines the return route according to the sensing data and self data, and if not, the flying unmanned aerial vehicle determines the return route according to self data.

[0041] The return module is configured to return the flying unmanned aerial vehicle according to the return route.

[0042] The present application has the following advantages:

[0043] 1. The method of the present application enables the flying unmanned aerial vehicle to obtain the sensing data (such as friendly aircraft positioning, interference signal strength, and obstacle distribution) provided by the communication unmanned aerial vehicle through the backup frequency band, and combines the sensing data with the friendly unmanned aerial vehicle group data and self data to accurately determine the actual positioning, interference area boundary, and return point, and plan a safe and feasible return route, thereby improving the return success rate of the flying unmanned aerial vehicle in the interference environment and ensuring its safe return after the loss of the main control signal.

[0044] 2. The method of the present application can improve the communication reliability of the flying unmanned aerial vehicle in a complex interference environment by setting the first unmanned aerial vehicle and the communication second unmanned aerial vehicle, avoid data transmission interruption caused by the failure of a single communication unmanned aerial vehicle, and ensure the continuous acquisition of sensing data to provide protection for the stable return of the unmanned aerial vehicle.

[0045] 3. The method of the present application determines the return route by combining the actual positioning data, interference area boundary data, obstacle distribution data, and return point determination data, which ensures the accuracy of the return starting point, ensures the smooth communication of the interference area boundary data, prevents the unmanned aerial vehicle from colliding with obstacles by the obstacle distribution data, and ensures that the return point can support the arrival of the electric quantity, so that the return route has accuracy, safety, and feasibility by the combination of the four data, which greatly reduces the risk of loss of control, collision, and insufficient electric quantity, and improves the return success rate in the interference environment.

[0046] Other features and advantages of the present application will be set forth in the following description of the application, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0048] Figure 1 A flow chart of a control method of a UAV of the present application is shown;

[0049] Figure 2 A device block diagram of the present application is shown;

[0050] Figure 3 A device structure schematic diagram of the present application is shown;

[0051] Figure 4 A computer readable medium structure schematic diagram of the present application is shown. DETAILED DESCRIPTION

[0052] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] Before the embodiments of the present application are described in further detail, the terms and phrases involved in the embodiments of the present application are explained, and the terms and phrases involved in the embodiments of the present application are applicable to the following explanations:

[0054] Master control signal (master control frequency band): the master control frequency band (such as 2.4 GHz) for communication between the flying UAV and the ground, used for transmitting real-time control instructions (such as flight attitude adjustment), the master control signal has weak anti-interference ability and is easy to become the focus of interference.

[0055] Backup frequency band: refers to a pre-set redundant communication frequency band (such as LoRa frequency band), physically isolated from the master control frequency band, capable of temporarily carrying key data (such as status information) when the master control frequency band fails, and having strong anti-interference ability.

[0056] Broadcast frequency band: refers to a frequency band (such as 433 MHz) for short-distance group signal transmission in emergency situations, used for the flying UAV to send a distress signal and the friendly aircraft to return basic data, having strong anti-interference ability, but the signal will spread in all directions, and any device (including non-friendly devices) within the coverage of the frequency band may intercept the signal, and the security is relatively low.

[0057] Referring to Figure 1 A control method of a UAV, specifically comprising the following steps:

[0058] S10, if the flying unmanned aerial vehicle detects loss of the master control signal within a preset time, the flying unmanned aerial vehicle sends a distress signal to the friendly unmanned aerial vehicle group through a broadcast frequency band, so that the friendly unmanned aerial vehicle group sends friendly unmanned aerial vehicle group data to the flying unmanned aerial vehicle through the broadcast frequency band; the friendly unmanned aerial vehicle group includes at least one friendly unmanned aerial vehicle;

[0059] In step S10, the friendly unmanned aerial vehicle group data is the data of each friendly unmanned aerial vehicle in the friendly unmanned aerial vehicle group. It needs to be further explained that although the standby frequency band is not interfered, the signal attenuates quickly in a complex environment (such as urban buildings, mountain valleys), and the communication distance is short, so even if the standby frequency band is switched, the ground cannot directly receive the signal; the broadcast frequency band is also not interfered, but it cannot receive complex instructions.

[0060] The preset time is set according to the anti-interference sensitivity of the master control signal (such as 5 seconds, to ensure that the false judgment caused by transient signal fluctuation is excluded), to avoid the ambiguity of time setting

[0061] S20, the flying unmanned aerial vehicle switches the communication frequency band to the standby frequency band;

[0062] S30, the flying unmanned aerial vehicle determines the communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, and sends the communication unmanned aerial vehicle data to the friendly unmanned aerial vehicle group, so that the communication unmanned aerial vehicle switches the communication frequency band to the standby frequency band, and establishes communication with the flying unmanned aerial vehicle;

[0063] S40, the flying unmanned aerial vehicle judges whether the sensing data sent by the communication unmanned aerial vehicle can be received through the standby frequency band, if yes, the flying unmanned aerial vehicle determines the return route according to the sensing data and its own data, if not, the flying unmanned aerial vehicle determines the return route according to its own data;

[0064] S50, the flying unmanned aerial vehicle returns according to the return route.

[0065] The standby frequency band of the unmanned aerial vehicle has a fast signal attenuation and a limited communication distance in a complex environment, so it is very difficult to directly control the unmanned aerial vehicle to return through the standby frequency band. Therefore, the communication unmanned aerial vehicle communicates with the flying unmanned aerial vehicle (the interfered unmanned aerial vehicle) through the standby frequency band, so that the flying unmanned aerial vehicle can obtain the sensing data (such as friendly machine positioning, interference signal strength, obstacle distribution) provided by the communication unmanned aerial vehicle, and combine the sensing data with the friendly unmanned aerial vehicle group data and its own data to accurately determine the actual positioning, interference area boundary and return point, and plan a safe and feasible return route. Compared with the case without communication unmanned aerial vehicle, the return success rate of the flying unmanned aerial vehicle in the interference environment is improved, and the flying unmanned aerial vehicle can still safely return after the master control signal is lost.

[0066] In the step S30, the friendly unmanned aerial vehicle group data includes the distress signal strength, the friendly unmanned aerial vehicle group positioning data, the interference signal strength, and the first power data. It needs to be further explained that the distress signal strength refers to the signal power strength (RSSI value, unit: dBm) when the friendly unmanned aerial vehicle receives the distress signal sent by the flying unmanned aerial vehicle through the broadcast frequency band. The distress signal strength directly reflects the attenuation degree of the distress signal during the transmission from the flying unmanned aerial vehicle to the friendly unmanned aerial vehicle, which is specifically shown as follows: the closer the value is to 0 (such as -50 dBm), the stronger the signal, which means that the distance between the friendly unmanned aerial vehicle and the flying unmanned aerial vehicle is closer or the transmission path interference is smaller; the smaller the value (such as -100 dBm), the weaker the signal, which means that the distance between the two is farther or there is strong shielding and interference in the transmission path. The flying unmanned aerial vehicle can assist in judging the relative position relationship of each friendly unmanned aerial vehicle and itself and the communication environment quality by comparing the distress signal strengths of different friendly unmanned aerial vehicles, thereby providing a reference basis for subsequent determination of the communication unmanned aerial vehicle.

[0067] The flying unmanned aerial vehicle determines the communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, specifically including the following steps:

[0068] S201, the flying unmanned aerial vehicle determines the distance to each friendly unmanned aerial vehicle according to the self-positioning data and the friendly unmanned aerial vehicle group positioning data;

[0069] S202, the flying unmanned aerial vehicle determines the communication unmanned aerial vehicle according to the distress signal strength, the distance to each friendly unmanned aerial vehicle, the interference signal strength, and the first power data.

[0070] In the step S30, the communication unmanned aerial vehicle includes a communication first unmanned aerial vehicle and a communication second unmanned aerial vehicle; the method further includes: when the communication between the flying unmanned aerial vehicle and the communication first unmanned aerial vehicle is interrupted, the communication second unmanned aerial vehicle is established through the standby frequency band, and the sensing data sent by the communication second unmanned aerial vehicle is received.

[0071] The communication first unmanned aerial vehicle and the communication second unmanned aerial vehicle are both determined by the flying unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data. The communication first unmanned aerial vehicle and the communication second unmanned aerial vehicle are generally located at different spatial positions to reduce the probability of being interfered at the same time. The communication first unmanned aerial vehicle and the communication second unmanned aerial vehicle both synchronously access the standby frequency band, but after the communication first unmanned aerial vehicle establishes a connection with the flying unmanned aerial vehicle, the communication second unmanned aerial vehicle is in a standby state. When the connection between the communication first unmanned aerial vehicle and the flying unmanned aerial vehicle is interrupted and cannot be reconnected, the communication second unmanned aerial vehicle establishes a connection with the flying unmanned aerial vehicle and synchronously sends the sensing data, thereby ensuring the continuity of the flying unmanned aerial vehicle return decision.

[0072] By setting the first unmanned aerial vehicle and the communication second unmanned aerial vehicle, the communication reliability of the flying unmanned aerial vehicle in a complex interference environment can be improved, data transmission interruption caused by failure of a single communication unmanned aerial vehicle is avoided, continuous acquisition of sensing data is ensured, and stable return of the unmanned aerial vehicle is ensured.

[0073] It needs to be further explained that the positioning data (self-positioning data and friend-positioning data) is the latitude and longitude coordinates obtained by the flying unmanned aerial vehicle through the positioning module (such as a Beidou module) carried by itself.

[0074] In the above step S40, the sensing data includes friend-positioning data and obstacle distribution data; specifically, the flying unmanned aerial vehicle determines a return route according to the sensing data and self-data, which specifically includes the following steps:

[0075] S4011, the flying unmanned aerial vehicle determines actual positioning data according to the friend-positioning data and self-positioning data;

[0076] S4012, the flying unmanned aerial vehicle determines interference region boundary data according to the interference signal strength;

[0077] S4013, the flying unmanned aerial vehicle determines a return point according to self-power data and actual positioning data;

[0078] Specifically, the flying unmanned aerial vehicle first obtains the remaining power, and calculates the maximum endurance mileage that can be flown at present according to the current power and the preset endurance ability corresponding relationship (such as 1% power corresponds to 0.2 kilometers of flight). Combined with the actual positioning data, the preset safe emergency landing point is searched, the distance between each emergency landing point and the actual positioning is calculated, the emergency landing point with a distance ≤ the maximum endurance mileage is selected, and the emergency landing point with the shortest distance is selected as the return point to ensure that the power can support the arrival.

[0079] S4014, the flying unmanned aerial vehicle determines a return route according to actual positioning data, interference region boundary data, obstacle distribution data and return point.

[0080] Specifically, the actual positioning data is used to determine the current position of the flying unmanned aerial vehicle as the starting point of the return route. If the positioning error is too large, the subsequent return route will deviate, resulting in deviation between the actual flight trajectory and the planned route. The interference region boundary data is used to avoid the area that may cause communication interruption again. The obstacle distribution data is the obstacle position such as trees, rocks and buildings in the flight path marked by the communication unmanned aerial vehicle, which ensures that the return route is passable and avoids damage of the unmanned aerial vehicle due to collision with obstacles. The return point is the terminal point of the return route, and the reasonable return point determined by the self-power data can ensure that the unmanned aerial vehicle can arrive and prevent accidents caused by insufficient power.

[0081] The return route is determined by combining the actual positioning data, the interference area boundary data, the obstacle distribution data and the return point. The actual positioning data ensures the accuracy of the return starting point, the interference area boundary data ensures smooth communication, the obstacle distribution data prevents the unmanned aerial vehicle from colliding with obstacles, and the return point ensures that the power can support the arrival. The combination of the four data makes the return route accurate, safe and feasible, greatly reduces the risk of loss of control, collision and insufficient power, and improves the return success rate in the interference environment.

[0082] In the above step S4011, the flying unmanned aerial vehicle determines the actual positioning data according to the friend positioning data and the self positioning data, which specifically includes the following steps:

[0083] S40111, the flying unmanned aerial vehicle converts the friend positioning data into the first positioning data through the preset first coordinate conversion parameter;

[0084] S40112, the actual positioning data is obtained by weighted fusion of the self positioning data and the converted friend positioning data;

[0085] Specifically, the flying unmanned aerial vehicle first converts the friend positioning data into the same coordinate system as the self positioning data (converted through the mapping relationship between longitude and latitude and local coordinates), and then fuses the two data according to the preset weight, and finally obtains the actual positioning data. For example, the weight of friend data is 70% and the weight of self data is 30%, and the calculation formula is: actual positioning = friend positioning x 70% + self positioning x 30%.

[0086] In the above step S4012, the flying unmanned aerial vehicle determines the interference area boundary data according to the interference signal strength, which specifically includes the following steps:

[0087] S40121, the flying unmanned aerial vehicle converts the friend unmanned aerial vehicle group positioning data into the second positioning data through the preset second coordinate conversion parameter;

[0088] S40122, the flying unmanned aerial vehicle sorts the interference signal strength according to the coordinates of the second positioning data, and calculates the signal strength gradient change of the adjacent positions;

[0089] S40123, the flying unmanned aerial vehicle divides the interference area boundary according to the signal strength gradient change.

[0090] Specifically, the flying unmanned aerial vehicle receives the interference signal strength of the main control frequency band and the corresponding collection position sent by the communication unmanned aerial vehicle, sorts the received interference signal strength data according to the collection position, calculates the signal strength gradient change of adjacent positions, takes the latitude and longitude difference as a reference, groups the collection points with a distance less than a set threshold (such as 50 meters) into a group, calculates the average signal strength in each group and the latitude and longitude of the center position of the group, sets the interference signal strength RSSI≥-70dBm as a strong interference threshold, connects the center positions of all groups whose signal strength reaches the threshold into a closed curve as the boundary of the interference area.

[0091] The coordinate conversion parameter (the first coordinate conversion parameter and the second coordinate conversion parameter) is a conversion rule for unifying the coordinate system of the friend unmanned aerial vehicle positioning data and the coordinate system of the self positioning data, contains the mapping relationship of different coordinate systems (such as the latitude and longitude coordinate system and the local coordinate system), can accurately convert the friend unmanned aerial vehicle positioning data into the data with the same coordinate system as the self positioning data, provides a unified reference for subsequent weighted fusion, and the coordinate conversion parameter belongs to the public knowledge in the field, and the specific calculation method and the value range will not be described in detail here.

[0092] In the above step S40, the flying unmanned aerial vehicle determines the return route according to the self data, and specifically includes the following steps:

[0093] S4021, the flying unmanned aerial vehicle determines the return point according to the self power data and the self positioning data;

[0094] S4022, the flying unmanned aerial vehicle determines the return route according to the return point and the self positioning data.

[0095] Specifically, the flying unmanned aerial vehicle first obtains the remaining power, combines the current power and the preset correspondence relationship of the endurance capability (such as 1% power corresponds to 0.2 kilometers of flight), calculates the maximum endurance mileage that can be flown at present; based on the self positioning data, the pre-device landing point is searched, the landing point with a distance ≤ the maximum endurance mileage is selected, the nearest safe landing point is selected as the return point, and the power can be ensured to support the arrival. Then, taking the self positioning as the starting point and the return point as the ending point, a return route is generated.

[0096] In a specific embodiment, when the flying unmanned aerial vehicle U0 detects loss of the 2.4GHz master control signal, and the state lasts for 5 seconds (preset time), the flying unmanned aerial vehicle sends a distress signal to the friendly unmanned aerial vehicle group (including U1, U2, U3) through the 433MHz broadcast frequency band after 5 seconds, the friendly unmanned aerial vehicle group returns U1, U2, U3 data (distress signal strength, position, interference signal strength and remaining power data) through the 433MHz broadcast frequency band after receiving the distress signal, U0 switches to the LoRa backup frequency band (868MHz), and U1 is determined as the first communication unmanned aerial vehicle and U2 is determined as the second communication unmanned aerial vehicle according to the distance, the distress signal strength and the power calculation, U1 switches to 868MHz and establishes communication with U0, U2 switches to 868MHz and waits for communication with U0, U0 starts the sensing data sent by U1, U0 fuses the actual positioning obtained by itself and U1 positioning, and determines the standby landing point A as the home point, and plans a route from the actual positioning to the standby landing point A, which bypasses the core interference area and the rock. If the communication between U1 and U0 is interrupted, U0 immediately establishes a connection with U2 through the 868MHz backup frequency band and continues to return to the standby landing point A. When U0 fails to establish communication with U1 and U2, U0 plans a return route by itself. In this embodiment, the modules that need to be added to the existing unmanned aerial vehicle include: a transceiver module supporting the 433MHz broadcast frequency band (used for sending a distress signal and receiving data of the friendly unmanned aerial vehicle group), a communication module supporting the LoRa backup frequency band (such as 868MHz) (used for establishing stable communication with the communication unmanned aerial vehicle), a local storage module for storing data of the friendly unmanned aerial vehicle group, sensing data and self-positioning data, and a processor module (used for calculating actual positioning data, screening communication unmanned aerial vehicles and planning a return route). It can be understood that these modules are mature components in the field of unmanned aerial vehicle communication and data processing, the transceiver module supporting the 433MHz and LoRa frequency bands is a standardized communication hardware, the local storage module can adopt a conventional SD card or a flash memory chip, and the processor module can be realized by upgrading the firmware of the master control chip of the existing unmanned aerial vehicle, and a person skilled in the art can complete the installation by conventional hardware selection, interface adaptation and firmware debugging.

[0097] Referring to Figure 2 Based on the same inventive concept as the above method, the disclosure further proposes a control system of an unmanned aerial vehicle, which comprises:

[0098] The signal detection module 110 is configured to send a distress signal to the friendly unmanned aerial vehicle group through a broadcast frequency band within a preset time if the flying unmanned aerial vehicle detects loss of the master control signal, so that the friendly unmanned aerial vehicle group sends friendly unmanned aerial vehicle group data to the flying unmanned aerial vehicle through the broadcast frequency band; wherein the friendly unmanned aerial vehicle group comprises at least one friendly unmanned aerial vehicle.

[0099] The signal switching module 120 is configured to switch the communication frequency band of the flying unmanned aerial vehicle to the backup frequency band.

[0100] The communication module 130 is configured to determine a communication unmanned aerial vehicle according to the friendly unmanned aerial vehicle group data, and send the communication unmanned aerial vehicle data to the friendly unmanned aerial vehicle group, so that the communication unmanned aerial vehicle switches the communication frequency band to the backup frequency band, and establishes communication with the flying unmanned aerial vehicle.

[0101] The return route determining module 140 is configured to determine whether the flying unmanned aerial vehicle can receive the sensing data sent by the communication unmanned aerial vehicle through the backup frequency band, and if yes, determine a return route according to the sensing data and the self data of the flying unmanned aerial vehicle, and if not, determine the return route according to the self data of the flying unmanned aerial vehicle.

[0102] The return module 150 is configured to return the flying unmanned aerial vehicle according to the return route.

[0103] Referring to Figure 3 Based on the same inventive concept as the above method, the disclosure further proposes an equipment comprising a memory and a processor, the memory stores computer instructions capable of running on the processor, and the processor executes the computer instructions to perform the above-mentioned control method of the unmanned aerial vehicle.

[0104] Referring to Figure 4 Based on the same inventive concept as the above method, the disclosure further proposes a computer readable storage medium, which stores computer instructions, and when the computer instructions run, the above-mentioned control method of the unmanned aerial vehicle can be implemented.

[0105] In the embodiments of the present application, any reference to memory, storage, database or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory.

[0106] It should be noted that, in the present document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0107] Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood that modifications can be made to the foregoing embodiments, or additional implementations can be implemented, without departing from the spirit and scope of the inventive subject matter. Accordingly, the present application is not limited to the implementations described herein, but is intended to cover all modifications and equivalents falling within the spirit and scope of the inventive subject matter.

Claims

1. A method for controlling a drone, characterized in that: include: If the flying drone detects that the master control signal is lost within a preset time, it sends a distress signal to a swarm of friendly drones via a broadcast frequency band, so that the swarm of friendly drones sends swarm data to the flying drone via the broadcast frequency band; wherein the swarm of friendly drones includes at least one friendly drone; The flying drone switches the communication frequency band to the backup frequency band; The flying drone determines the communicating drone based on the friendly drone group data, and sends the communicating drone data to the friendly drone group, so that the communicating drone switches the communication frequency band to the backup frequency band and establishes communication with the flying drone; The flying drone determines whether it can receive the perception data sent by the communicating drone through the backup frequency band. If so, the flying drone determines a return route based on the perception data, the data of the friendly drone group, and its own data. If not, the flying drone determines a return route based on its own data. The flying drone returns according to the return route.

2. The method for controlling a drone according to claim 1, wherein: The friendly drone swarm data includes distress signal strength, friendly drone swarm positioning data, interference signal strength and first power data.

3. The method for controlling a drone according to claim 2, wherein: The flying drone determines the communication drone based on the friendly drone group data, specifically including: The flying drone determines the distance to each friendly drone based on its own positioning data and the positioning data of the friendly drone group; The flying drone determines the communicating drone based on the distress signal strength, the distance to each friendly drone, the interference signal strength, and the first power data.

4. The method for controlling a drone according to claim 1, wherein: The communication drone includes a first communication drone and a second communication drone; The method further includes: when the flying UAV loses communication with the first communicating UAV, establishing communication with the second communicating UAV via a backup frequency band, and receiving sensing data sent by the second communicating UAV.

5. The method for controlling a drone according to claim 3, wherein: The perception data includes friendly machine positioning data and obstacle distribution data, and the self-data includes self-positioning data and self-power data.

6. The method for controlling a drone according to claim 5, wherein: The flying drone determines a return route based on the perception data and its own data, specifically including the following steps: The flying UAV determines actual positioning data based on the positioning data of the friendly aircraft and its own positioning data; The flying UAV determines the boundary data of the interference area according to the strength of the interference signal; The flying drone determines the return point based on its own power data and actual positioning data; The flying UAV determines a return route based on the actual positioning data, the interference zone boundary data, the obstacle distribution data and the return point.

7. The method for controlling a drone according to claim 6, wherein: The flying UAV determines actual positioning data based on the friendly UAV positioning data and its own positioning data, specifically including the following steps: The flying UAV converts the friendly aircraft positioning data into the first positioning data using a preset first coordinate conversion parameter; The self-positioning data and the converted friendly aircraft positioning data are weightedly fused to obtain actual positioning data.

8. The method for controlling a drone according to claim 6, wherein: The flying UAV determines the interference zone boundary data according to the interference signal strength, specifically including: The flying drone converts the friendly drone group positioning data into second positioning data using a preset second coordinate conversion parameter; The flying drone sorts the interference signal strengths according to the coordinates of the second positioning data and calculates the gradient change of the signal strengths at adjacent positions; The flying UAV divides the interference zone boundary according to the signal strength gradient change.

9. The method for controlling a drone according to claim 1, wherein: The self-data includes self-positioning data and self-power data; The flying drone determines the return route based on its own data, specifically including: The flying drone determines a return point based on the self-power data and self-positioning data; The flying drone determines the return route based on the return point and its own positioning data.

10. A control system for an unmanned aerial vehicle, characterized in that: include: a signal detection module configured to, if the flying drone detects a loss of a master control signal within a preset time, send a distress signal to a swarm of friendly drones via a broadcast frequency band, so that the swarm of friendly drones transmits swarm data to the flying drone via the broadcast frequency band; wherein the swarm of friendly drones includes at least one friendly drone; The signal switching module is used to switch the communication frequency band to the backup frequency band when the drone is flying; A communication module is used for the flying drone to determine the communication drone based on the data of the friendly drone group, and send the communication drone data to the friendly drone group, so that the communication drone switches the communication frequency band to the backup frequency band and establishes communication with the flying drone; A return route determination module is used for the flying drone to determine whether it can receive the perception data sent by the communication drone through the backup frequency band. If so, the flying drone determines the return route based on the perception data and its own data. If not, the flying drone determines the return route based on its own data. The return module is used to make the drone return according to the return route.

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